CN108454596A - Brake control and brake control method - Google Patents
Brake control and brake control method Download PDFInfo
- Publication number
- CN108454596A CN108454596A CN201810140862.2A CN201810140862A CN108454596A CN 108454596 A CN108454596 A CN 108454596A CN 201810140862 A CN201810140862 A CN 201810140862A CN 108454596 A CN108454596 A CN 108454596A
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- tractor
- brake
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- 238000000034 method Methods 0.000 title claims abstract description 18
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 claims abstract description 12
- 238000003745 diagnosis Methods 0.000 claims description 30
- 238000012360 testing method Methods 0.000 claims description 22
- 230000002159 abnormal effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 abstract description 15
- 238000012545 processing Methods 0.000 description 42
- 230000009471 action Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000006855 networking Effects 0.000 description 5
- 238000002485 combustion reaction Methods 0.000 description 3
- 230000002401 inhibitory effect Effects 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/20—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger specially for trailers, e.g. in case of uncoupling of or overrunning by trailer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/246—Change of direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/323—Systems specially adapted for tractor-trailer combinations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/242—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for supporting braking actions, e.g. braking means integrated with hitches; Braking sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/022—Collision avoidance systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/40—Failsafe aspects of brake control systems
- B60T2270/402—Back-up
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2306/00—Other features of vehicle sub-units
- B60Y2306/15—Failure diagnostics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/301—Sensors for position or displacement
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The present invention relates to brake control and brake control methods.Brake control is applied to the vehicle with tractor and trailer.Brake control includes：First braking parts control the first brake apparatus；Second braking parts control the second brake apparatus；Range sensor, detection vehicle is at a distance from article；Enforcement division executes automatic brake control according to the first braking parts of distance controlling and the second braking parts that are detected by range sensor；And prohibition unit, forbid the execution for the automatic brake control that enforcement division carried out.Brake control is connecting state with tractor and trailer and the second braking parts break down as condition, forbids the execution of automatic brake control.
Description
Technical field
The present invention relates to brake control and brake control methods.
Background technology
Japanese Unexamined Patent Application Publication 2007-503352 bulletins disclose a kind of with tractor and the trailer that is drawn by the tractor
Vehicle.It is useful for operating the various devices such as driving device, transfer and the brake apparatus of the vehicle in vehicle loading.Separately
Outside, in vehicle also equipped with the range sensor at a distance from the article measured with vehicle periphery.Above-mentioned brake control with away from
It is communicated from sensor, according to vehicle and the dangerous control brake apparatus of article collision so that vehicle braking.
Include applied to the brake control with tractor and the vehicle of trailer as described above：Control is set to
First braking parts of the brake apparatus of tractor and control are set to the second braking parts of the brake apparatus of trailer.Control for brake
No matter device is executing the operation brake pedal of driver, and the detection signal for being all based on above-mentioned range sensor is automatically right
In the case of the automatic brake control that vehicle is braked, the first braking parts are controlled to brake tractor, and control the second system
Trailer is braked in dynamic portion.
In brake control, there is also the second braking parts that trailer is braked generate failure the case where.The feelings
Under condition, if brake control executes automatic brake control, each brake apparatus of tractor and trailer is controlled, although then can
Tractor is braked, but is difficult to brake trailer.Therefore, the difference of the brake force of tractor and trailer becomes larger, vehicle
Operating condition be easy disorder.In above-mentioned brake control, occur about the second braking parts braked to trailer
Automatic brake control in the case of failure does not have any disclosure, there is room for improvement.
Invention content
First method provides the system of the vehicle of trailer for being configured to be applied to have tractor and being drawn by the tractor
Dynamic control device.Brake control has the first braking parts, the second braking parts, range sensor, enforcement division, connection detection
Portion, fault diagnosis portion and prohibition unit.First braking parts constitute the first brake apparatus for being equipped on above-mentioned tractor in order to control.
Second braking parts constitute the second brake apparatus for being equipped on above-mentioned trailer in order to control.Range sensor is configured to detect above-mentioned vehicle
At a distance from the article around the vehicle.Enforcement division is configured to be controlled according to the above-mentioned distance detected by above-mentioned range sensor
Above-mentioned first braking parts and above-mentioned second braking parts are made, to execute the automatic brake control braked to above-mentioned vehicle.Even
Knot test section is configured to detect the connecting state of above-mentioned tractor and above-mentioned trailer.Fault diagnosis portion is configured to diagnose above-mentioned second
The failure of braking parts.Prohibition unit is configured to the execution for the above-mentioned automatic brake control for forbidding above-mentioned enforcement division to be carried out.It is configured to
It is connecting state to be detected as above-mentioned tractor and above-mentioned trailer by above-mentioned connection test section, and is examined by above-mentioned fault diagnosis portion
The failure for measuring above-mentioned second braking parts is condition, and above-mentioned prohibition unit forbids the above-mentioned automatic braking control that above-mentioned enforcement division is carried out
The execution of system.
In the above-described configuration, when tractor and trailer connection, and the second braking parts braked to trailer are detected
Failure when, forbid automatic brake control.Therefore, it can inhibit the execution due to automatic brake control and between tractor and trailer
The difference of brake force becomes larger.Therefore, according to the above configuration, the difference due to the brake force of tractor and trailer can be inhibited and vehicle
Operating condition is disorderly.
Second method provides the system of the vehicle of trailer for being configured to be applied to have tractor and being drawn by the tractor
Dynamic control device.Brake control has the first braking parts, the second braking parts, range sensor, enforcement division, connection detection
Portion, fault diagnosis portion, transport condition test section, straight trip determination unit and prohibition unit.First braking parts composition is equipped in order to control
First brake apparatus of above-mentioned tractor.Second braking parts constitute the second brake apparatus for being equipped on above-mentioned trailer in order to control.Away from
It is configured to detect above-mentioned vehicle at a distance from the article around the vehicle from sensor.Enforcement division be configured to according to by it is above-mentioned away from
From above-mentioned first braking parts of above-mentioned distance controlling and above-mentioned second braking parts that sensor detects, to execute to above-mentioned vehicle
The automatic brake control braked.Connection test section is configured to detect the connecting state of above-mentioned tractor and above-mentioned trailer.
Fault diagnosis portion is configured to diagnose the failure of above-mentioned second braking parts.Transport condition test section is configured to detect above-mentioned
The transport condition of vehicle.Straight trip determination unit is configured to the traveling for the above-mentioned vehicle for judging to be detected by above-mentioned transport condition test section
Whether state is straight trip.Prohibition unit is configured to the execution for the above-mentioned automatic brake control for forbidding above-mentioned enforcement division to be carried out.It constitutes
For to detect that above-mentioned tractor and above-mentioned trailer are connecting states by above-mentioned connection test section, and examined by above-mentioned fault diagnosis portion
The failure of above-mentioned second braking parts is measured, and it is item that by above-mentioned straight trip determination unit to be determined as above-mentioned vehicle not, which be straight-going state,
Part, above-mentioned prohibition unit forbid the execution for the above-mentioned automatic brake control that above-mentioned enforcement division carried out.
When vehicle is not straight-going state, when being turn condition of the vehicle just in negotiation of bends, due to being carried out to vehicle
The action direction of the inertia force of tractor when braking is different from the action direction of the inertia force of trailer, so the operation of vehicle
Situation is easy disorder.Therefore, if executing automatic brake control in such a state, the brake force of tractor and trailer generates
Difference, the then operating condition of vehicle more easily disorder.
In the above-described configuration, when tractor and trailer connection, and the second braking parts braked to trailer are detected
Failure, and when vehicle is not straight-going state, forbid automatic brake control.Therefore, it can inhibit when vehicle is not straight-going state
Due to automatic brake control execution and the case where the difference of brake force becomes larger between tractor and trailer.As a result, tractor with
The operating condition of vehicle is easy in the state of disorder when the brake force of trailer generates difference, can inhibit the disorder of the operating condition.
Therefore, it is possible to inhibit the operating condition disorder of the difference due to the brake force of tractor and trailer and vehicle.
In the brake control of each mode, preferably above-mentioned enforcement division is prohibiting above-mentioned automatic system by above-mentioned prohibition unit
When the execution of dynamic control, instead of the automatic brake control, and according to the above-mentioned distance controlling detected by above-mentioned range sensor
Above-mentioned first braking parts, come control for brake when executing the exception braked to above-mentioned vehicle, control for brake when above-mentioned abnormal
In brake force caused by above-mentioned first brake apparatus be less than above-mentioned first brake apparatus in above-mentioned automatic brake control and produced
Raw brake force.
According to the above configuration, even the second braking parts break down, control for brake when can also pass through exception utilizes
The brake force smaller than the brake force in automatic brake control brakes tractor.Therefore, it is possible to strongly inhibit tractor with
The case where difference of brake force becomes larger between trailer, while making vehicle braking.
Third Way provides the control for brake of the vehicle of trailer for being applied to have tractor and being drawn by the tractor
Method.Brake control method has：The first brake apparatus of above-mentioned tractor is equipped on by the control of the first braking parts；Pass through
Two braking parts control the second brake apparatus for being equipped on above-mentioned trailer；Detect the article around above-mentioned vehicle and the vehicle away from
From；According to above-mentioned first braking parts of the above-mentioned above-mentioned distance controlling detected and above-mentioned second braking parts, to execute to above-mentioned
The automatic brake control that vehicle is braked；Detect the connecting state of above-mentioned tractor and above-mentioned trailer；Diagnose above-mentioned second system
The failure in dynamic portion；And it is connecting state and detects above-mentioned second braking parts to be detected as above-mentioned tractor and above-mentioned trailer
Failure be condition, to forbid the execution of above-mentioned automatic brake control.
Fourth way provides the control for brake of the vehicle of trailer for being applied to have tractor and being drawn by the tractor
Method.Brake control method has：The first brake apparatus of above-mentioned tractor is equipped on by the control of the first braking parts；Pass through
Two braking parts control the second brake apparatus for being equipped on above-mentioned trailer；Detect the article around above-mentioned vehicle and the vehicle away from
From；According to above-mentioned first braking parts of the above-mentioned distance controlling detected by above-mentioned range sensor and above-mentioned second braking parts,
To execute the automatic brake control braked to above-mentioned vehicle；Detect the connecting state of above-mentioned tractor and above-mentioned trailer；It examines
The failure for above-mentioned second braking parts of breaking；Detect the transport condition of above-mentioned vehicle；Judge the traveling of the above-mentioned above-mentioned vehicle detected
Whether state is straight trip；And to be detected as above-mentioned tractor and above-mentioned trailer is connecting state and is examined by above-mentioned fault diagnosis portion
The failure of above-mentioned second braking parts is measured, and is determined as above-mentioned vehicle not and is that straight-going state is condition, it is above-mentioned automatic to forbid
The execution of control for brake.
Description of the drawings
Fig. 1 is the schematic diagram of the composition for the brake control for indicating first embodiment.
Fig. 2 is a series of flow chart of the flow of processing in the judgement control indicated performed by brake control.
Fig. 3 is the schematic diagram for indicating a part for the brake control of second embodiment and constituting.
Fig. 4 is a series of stream of processing in the judgement control indicated performed by the brake control of second embodiment
The flow chart of journey.
Fig. 5 is a series of stream of processing in the judgement control indicated performed by the brake control of third embodiment
The flow chart of journey.
Specific implementation mode
(first embodiment)
Referring to Fig.1 and Fig. 2 illustrates the first embodiment of brake control and brake control method.
As shown in Figure 1, vehicle 10 has tractor 20 and the trailer 40 with the tractor 20 connection.Tractor 20, which has, to be made
For the internal combustion engine 21 of driving source.Tractor 20 is provided with driving wheel 22.Driving wheel 22 is included in vehicle front (top of Fig. 1)
Left and right separately positioned a pair of of front-wheel 22A and a pair of rear wheels 22B separately positioned in the rear of vehicle of front-wheel 22A or so.Driving
Power is transmitted to these driving wheels 22 from internal combustion engine 21.In tractor 20 equipped with multiple first systems configured to each driving wheel 22
Dynamic device 30.That is, the first brake apparatus 30 includes and the first brake apparatus on front side of a pair of of front-wheel 22A respectively corresponding 2 configured
30A and with a pair of rear wheels 22B respectively it is corresponding configuration 2 rear side the first brake apparatus 30B.First brake apparatus 30 have make
The first brake actuator 31 that brake force generates.
In addition, the driver's seat in tractor 20 is provided with transfer 23 and brake pedal 24.Transfer 23 has quilt
The steering wheel 23A of driver's operation.Tractor 20 has the handling maneuver angle sensing for the rotation angle for being configured to detection direction disk 23A
Device 70 and be configured to detect brake pedal 24 depression amount stroke sensor 71.Tractor 20 has composition in its front end
For range sensor 72 of the detection vehicle 10 at a distance from the article around the vehicle 10.Range sensor 72 is for example to vehicle
Ultrasonic wave is sent out to detect the ultrasonic sensor at a distance from the article of vehicle front in front of.In addition, tractor 20 is at it
Rear end has the connection detection sensor 73 for being configured to detect tractor 20 and the connecting state of trailer 40.Connection detection sensing
Device 73 is for example concatenated according to the terminal (not shown) for the front end for being configured at trailer 40, to detect the connecting state of trailer 40.
Tractor 20 has first control device 50.First control device 50 is entered from handling maneuver angle transducer
70, stroke sensor 71, range sensor 72 and the output signal for linking detection sensor 73.In addition, first control device
50 are also fed to the output signal of the vehicle speed sensor 74 from the speed for being configured to detect vehicle 10.
The rear end overlapping connection of the front end and the tractor 20 opposed with tractor 20 of trailer 40.It is set in trailer 40
It is equipped with a pair of driven 41 of left and right configured separate.Trailer 40 be provided with a pair of driven 41 respectively it is corresponding configuration 2
Second brake apparatus 42.Second brake apparatus 42 has the second brake actuator 43 for making brake force generate.It is also set in trailer 40
It is equipped with second control device 60.Second control device 60 is configured to via such as CAN (ControllerArea
Network：Controller zone network) etc. In-vehicle networkings and first control device 50 carry out the communication of twocouese.Second control dress
Set 60 output signals for being entered the weight sensor 75 from the load-carrying for being configured to detect trailer 40.
First control device 50 has the first actuator control portion 51, enforcement division 52, connection determination unit 53 and prohibition unit
54.In addition, second control device 60 has the second actuator control portion 61 and fault diagnosis portion 62.
If the driving force from internal combustion engine 21 is transmitted to the driving wheel 22 of tractor 20 and the driving wheel 22 is made to rotate, lead
Draw the traveling of vehicle 20.The driven wheel 41 by being drawn by tractor 20 of trailer 40 rotates to travel.If driver operates brake pedal
24, then output signal corresponding with the operating quantity be input to first control device 50 from stroke sensor 71.First control device
Output signal operation tractor of 50 the first actuator control portion 51 based on stroke sensor 71 and vehicle speed sensor 74 etc.
20 brake force appropriate, and the first brake actuator 31 of the first brake apparatus 30 is controlled to obtain the brake force.That is, first
Brake actuator 31 is driven based on the drive signal from the first actuator control portion 51, is generated in the first brake apparatus 30
Brake force appropriate.In addition, first control device 50 will be sent to the second control dress via In-vehicle networking about the signal of braking
Set 60.
In the second actuator control portion 61 of second control device 60, based on transmitted from first control device 50 about
The output signal of the signal and weight sensor 75 of braking, the brake force appropriate of operation trailer 40.The brake force is by operation
The deceleration speed of tractor 20 when the geard-down speed of trailer 40 and the first actuator control portion 51 the first brake actuator 31 of control
It spends identical.Moreover, the second actuator control portion 61 controls the second brake actuator 43 of the second brake apparatus 42 to obtain operation
The brake force gone out.
In addition, the first brake apparatus 30 and the second brake apparatus 42 pass through air hose (not shown) and brake pedal 24
Connection.If moreover, being transmitted to the first brake apparatus via air hose by the air signal that the operation of brake pedal 24 generates
30 and second brake apparatus 42, then generate brake force in each brake apparatus 30,42.Being provided in tractor 20 will be via sky
The first cutting mechanism (not shown) of the transmission cut-out of the air signal of gas hose.First cutting mechanism is controlled in the first actuator
When portion 51 is normal, the transmission of the air signal via air hose to the first brake apparatus 30 is cut off, on the other hand, if the
One actuator control portion 51 breaks down, then allows the biography of the air signal via air hose to the first brake apparatus 30
It passs.It will be via the second cutting machine (not shown) of the transmission cut-out of the air signal of air hose in addition, being provided in trailer 40
Structure.Second cutting mechanism is cut off when the second actuator control portion 61 is normal to the soft via air of the second brake apparatus 42
On the other hand the transmission of the air signal of pipe if the second actuator control portion 61 breaks down, allows to the second brake apparatus
The transmission of 42 air signal via air hose.Therefore, even if the first actuator control portion 51 and the second actuator control
Portion 61 processed breaks down, and also brake pedal 24 can be operated by driver, to make the first brake apparatus 30 and second brake
Device 42 works.
In addition, the enforcement division 52 of first control device 50 be configured to according to the vehicle 10 detected by range sensor 72 with
The distance of the article of vehicle periphery controls the first actuator control portion 51 and the second actuator control portion 61, to execute to vehicle
10 automatic brake controls braked.In the present embodiment, enforcement division 52 will be detected upper by range sensor 72
It is that predetermined distance or less is used as execution condition to state distance, just judges whether the execution condition is true every specified period.Then, exist
Execution condition set up when, enforcement division 52 regardless of brake pedal 24 operation, all control the first actuator control portion 51 and
Second actuator control portion 61 come make each brake apparatus 30,42 generate brake force.Brake force at this time is for example mapped operation
It is above-mentioned apart from smaller then bigger.When vehicle 10 is possible to the article contacts with vehicle front, vehicle 10 is braked as a result,.
In the present embodiment, the first actuator control portion 51 is equivalent to the first brake apparatus to being equipped on tractor 20
30 the first braking parts controlled, the second actuator control portion 61 are equivalent to the second brake apparatus 42 to being equipped on trailer 40
The second braking parts controlled.
Connection determination unit 53 judges that tractor 20 and trailer 40 are based on the output signal from connection detection sensor 73
No connection.Wherein, link detection sensor 73 and connection determination unit 53 is equivalent to and is configured to detect tractor 20 and trailer 40
Connecting state connection test section.In addition, prohibition unit 54 is configured to the automatic brake control for forbidding enforcement division 52 to be carried out
It executes.
In addition, the fault diagnosis portion 62 of second control device 60 is configured to diagnose the failure of the second actuator control portion 61.
Wherein, fault diagnosis portion 62 executes fault diagnosis on regulation opportunity, in the feelings for the failure for detecting the second actuator control portion 61
It is stored under condition.
In addition, as shown in Figure 1, tractor 20 driver's seat be additionally provided with it is automatic in brake control for reporting
The abnormal report lamp 76 of control for brake.
In this way, brake control by first control device 50, second control device 60, handling maneuver angle transducer 70,
Stroke sensor 71, range sensor 72, connection detection sensor 73, vehicle speed sensor 74, weight sensor 75 and report
Lamp 76 is constituted.If executing automatic brake control when the second actuator control portion 61 braked to trailer 40 generates failure,
Then the difference of the brake force of tractor 20 and trailer 40 becomes larger, and the operating condition of vehicle 10 is easy disorder.Therefore, control for brake fills
It has been set to the disorder for inhibiting such Vehicular behavior and has executed the judgement control for determining whether to execute automatic brake control.
Next, with reference to a series of flow chart of Fig. 2 places involved to the judgement control performed by brake control
The flow of reason illustrates.Brake control just executes this series of processing repeatedly every specified period.
As shown in Fig. 2, brake control starts this series of processing.First, it is determined that whether connection test section detects
The connecting state (step S200) of tractor 20 and trailer 40.The case where detecting connecting state of the tractor 20 with trailer 40
Under (step S200：It is), next determine whether to be stored with the event that fault diagnosis portion 62 detects the second actuator control portion 61
Hinder (step S201).(step S201 in the case of in the processing of step S201 to judge certainly：It is), it is to connect in tractor 20
Have trailer 40, and the state that the second actuator control portion 61 breaks down.Therefore, if executing automatic braking control in this state
System, then the difference of the brake force of tractor 20 and trailer 40 is possible to become larger.Therefore, processing moves to step S202, prohibition unit 54
Forbid the execution for the automatic brake control that enforcement division 52 carried out.In this case, even if the execution item of automatic brake control later
Part is set up, and automatic brake control is not also performed.Then, processing moves to step S203, so that report lamp 76 is lighted automatic to report
The exception of control for brake.Then, a series of involved processing of judgement control terminate.
In processing in step S201, it is determined as that not storing fault diagnosis portion 62 detects the second actuator control portion
(step S201 in the case of 61 failure：It is no), allow the execution (step S204) of automatic brake control.Then, the judgement control
A series of involved processing of system terminate.In this case, if the execution condition of automatic brake control is set up later, pass through execution
Portion 52 executes automatic brake control.
In addition, when the feelings for the connecting state for being judged to being not detected tractor 20 and trailer 40 in the processing of step S200
(step S200 under condition：It is no), processing also moves to step S204, allows the execution of automatic brake control.Then, which controls institute
A series of processing being related to terminate.
The function and effect of present embodiment are illustrated.
(1) in the present embodiment, when tractor 20 and trailer 40 link, and the braked to trailer 40 is detected
When the failure of two actuator control portions 61, forbid automatic brake control.Therefore, can inhibit the execution due to automatic brake control and
The case where difference of brake force becomes larger between tractor 20 and trailer 40.Thus, it is possible to inhibit due to tractor 20 and trailer 40
Brake force difference and vehicle operating condition it is disorderly.
(second embodiment)
The second embodiment of brake control and brake control method is illustrated with reference to Fig. 3 and Fig. 4.
It is configured to judge vehicle as shown in figure 3, present embodiment has in the first control device 50 of brake control
Transport condition whether be straight trip straight trip determination unit 100 on this point it is different from first embodiment.Straight trip 100 structure of determination unit
Whether it is straight trip as the transport condition based on the output signal judgement vehicle 10 from handling maneuver angle transducer 70.Therefore,
Handling maneuver angle transducer 70 is equivalent to the transport condition test section of the transport condition of detection vehicle 10.In addition, because other
Constitute identical with first embodiment, so the shared reference numeral of mark is come, the description thereof will be omitted.
The system involved by judgement control performed by brake control of the flow chart of reference Fig. 4 to present embodiment
The flow of column processing illustrates.Brake control just executes this series of processing repeatedly every specified period.
As shown in figure 4, brake control starts this series of processing.First, it is determined that whether connection test section detects
The connecting state (step S400) of tractor 20 and trailer 40.The case where detecting connecting state of the tractor 20 with trailer 40
Under (step S400：It is), next determine whether to be stored with the event that fault diagnosis portion 62 detects the second actuator control portion 61
Hinder (step S401).(the step S401 in the case where being stored with the failure for detecting the second actuator control portion 61：It is), it connects down
Come, straight trip determination unit 100 judges whether vehicle 10 is not straight-going state (step S402).In this process, when handling maneuver angle
When the output signal of sensor 70 is not the corresponding signal in handling maneuver angle when keeping straight on vehicle, it is straight to be determined as vehicle 10 not
Row state, but in the turn condition of negotiation of bends.(the step S402 in the case where the processing of step S402 is to judge certainly：
Be), be linked with trailer 40 in tractor 20 and be the state that the second actuator control portion 61 breaks down, and vehicle 10 is not
In the case of being straight-going state, processing moves to step S403.In the processing of step S403, prohibition unit 54 forbids 52 institute of enforcement division
The execution of the automatic brake control of progress.Then, processing moves to step S404, so that report lamp 76 is lighted to report automatic braking control
The exception of system.Then, a series of involved processing of judgement control terminate.
(step S402 in the case of being determined as that vehicle 10 is straight-going state in the processing of step S402：It is no), processing
Step S405 is moved to, the execution of automatic brake control is allowed.Then, a series of involved processing of judgement control terminate.
When being determined as that not storing fault diagnosis portion 62 detects the second actuator control portion in the processing in step S401
(step S401 in the case of 61 failure：It is no), allow the execution (step S405) of automatic brake control.Then, the judgement control
A series of involved processing of system terminate.
In addition, when the feelings for the connecting state for being judged to being not detected tractor 20 and trailer 40 in the processing of step S400
(step S400 under condition：It is no), processing also moves to step S405, allows the execution of automatic brake control.Then, which controls institute
A series of processing being related to terminate.
The function and effect of present embodiment are illustrated.
(2) when vehicle 10 is not straight-going state, when i.e. vehicle 10 is the turn condition just in negotiation of bends, to vehicle 10
The action direction of the inertia force of tractor 20 when being braked is different with the action direction of the inertia force of trailer 40.Therefore, vehicle
10 operating condition is easy disorder.If executing automatic brake control in such a state, brake force acts only on tractor
20, then since the generation of the brake force of tractor 20 and trailer 40 is poor, so the operating condition of vehicle 10 is easy to be more disorderly.
In the present embodiment, when tractor 20 and trailer 40 link and detect that braked to trailer 40 second promotees
The failure of dynamic device control unit 61, and when vehicle 10 is not straight-going state, forbid automatic brake control.Therefore, it is possible to inhibit
When vehicle 10 is not straight-going state, due to automatic brake control execution and between tractor 20 and trailer 40 brake force difference
Become larger.When the brake force of tractor 20 and trailer 40 generates difference, the operating condition of vehicle 10 is easy in disorderly state as a result,
It can inhibit the disorder of the operating condition.Therefore, it is possible to inhibit the difference of the brake force due to tractor 20 and trailer 40 and vehicle
10 operating condition is disorderly.
In addition, when vehicle 10 is straight-going state, the effect of the inertia force of the tractor 20 when being braked to vehicle 10
Direction is identical with the action direction of the inertia force of trailer 40.Therefore, holding by automatic brake control is being born by tractor 20
When going and acting on the inertia force of tractor 20 from trailer 40, the disorder of the operating condition of vehicle is few.Therefore, it is being determined as vehicle
10 when being straight-going state, even if allowing the execution of automatic brake control if the second actuator control portion 61 breaks down.Therefore,
The execution frequency of automatic brake control can be improved as much as possible, while inhibiting the disorder of the operating condition of vehicle 10.
(third embodiment)
The third embodiment of brake control and brake control method is illustrated with reference to Fig. 5.In this implementation
In mode, the flow and first embodiment of a series of involved processing of judgement control performed by brake control are not
Together.Hereinafter, the reference numeral shared to composition mark same as the first embodiment is come, the description thereof will be omitted.
As shown in figure 5, brake control starts a series of involved processing of judgement control.First, it is determined that connection inspection
Whether survey portion detects the connecting state (step S500) of tractor 20 and trailer 40.Detecting tractor 20 and trailer 40
(step S500 in the case of connecting state：It is), next determine whether that being stored with fault diagnosis portion 62 detects that second actuates
The failure (step S501) of device control unit 61.(the step in the case where being stored with the failure for detecting the second actuator control portion 61
Rapid S501：It is), processing is moved into step S502, prohibition unit 54 forbids the execution for the automatic brake control that enforcement division 52 carried out.
If the banned stop of automatic brake control 54 is forbidden, enforcement division 52 replaces the automatic brake control, and executes and passed according to by distance
The control for brake when exception that the vehicle 10 that sensor 72 detects brakes vehicle at a distance from the article of vehicle periphery.Different
It is that predetermined distance or less is used as execution condition by the above-mentioned distance detected by range sensor 72, often when often in control for brake
Judge whether the execution condition is true every specified period.Then, when the condition of execution is set up, no matter the operation of brake pedal 24 is such as
What, enforcement division 52, which controls the first actuator control portion 51, makes the first brake apparatus 30 generate brake force.Brake force example at this time
As be mapped operation be it is above-mentioned if smaller it is bigger.Wherein, the mapping value when exception in control for brake is relative to automatic system
Mapping value in dynamic control is set to such as 50% smaller value.That is, in the distance phase detected by range sensor 72
With in the case of, brake force caused by the first brake apparatus 30 is less than in automatic brake control in control for brake when abnormal
Brake force caused by first brake apparatus 30.Therefore, if when abnormal after the processing of step S502 control for brake execution item
Part is set up, then vehicle 10 is by with the braking dynamic braking less than automatic brake control.
Then, processing moves to step S503, so that report lamp 76 is lighted to report the exception of automatic brake control.Then, should
A series of involved processing of judgement control terminate.
(the step S501 in the case where being judged to not storing the failure for detecting the second actuator control portion 61：It is no),
And it is judged to being not detected (step S500 in the case of the connecting state of tractor 20 and trailer 40：It is no), processing moves to step
Rapid S504 allows the execution of automatic brake control.Then, a series of involved processing of judgement control terminate.
In the present embodiment, other than the function and effect of above-mentioned (1), function and effect below are also obtained.
(3) in the present embodiment, forbid holding for automatic brake control when the second actuator control portion 61 breaks down
Control for brake when going, and replacing the automatic brake control and execute exception.When abnormal in control for brake, every specified period
Whether Predicated execution condition is true.The condition of execution set up and vehicle 10 be possible to the article contacts of vehicle front when, traction
Vehicle 20 is braked by the brake force smaller than the brake force in automatic brake control.Thus, it is also possible to strongly inhibiting traction
While the difference of brake force becomes larger between vehicle 20 and trailer 40, when vehicle 10 is possible to the article contacts with vehicle front to vehicle
10 are braked.
The above embodiment can change and implement as described below.Modification below also can be mutually appropriately combined
And implement.
In the processing of the step S403 of second embodiment, if the banned stop of automatic brake control 54 is forbidden, hold
Row portion 52 can also replace automatic brake control, and execute it is above-mentioned exception when control for brake.In addition, in the step of third embodiment
When executing abnormal in the processing of rapid S502 when control for brake, the brake force generated when vehicle 10 is straight-going state can also be set as
It is different from the brake force generated when not being straight-going state.In this case, identical in the distance detected by range sensor 72
In the case of, it is preferably set to the brake force generated when the small then straight-going state of the brake force generated when not being straight-going state.
It shows and uses example of the handling maneuver angle transducer 70 as transport condition test section, if but being able to detect that
The transport condition of vehicle 10 then can also use other constitute.For example, it is also possible to using detection vehicle 10 around vertical axis
The arbitrary sensor such as the yaw rate sensor of rotation angle.
It fault diagnosis portion 62, but for example also can be by using its abnormity diagnosis object as the second actuator control portion 61
Two control devices 60 are used as abnormity diagnosis object.In this case, in the case where second control device 60 is detected exception, energy
Enough it is judged as that the second actuator control portion 61 is also abnormal.
It is provided with fault diagnosis portion 62 in second control device 60, but also can failure be set in first control device 50
Diagnostics division 62.
Fault diagnosis portion 62 executes fault diagnosis on regulation opportunity, and in the event for detecting the second actuator control portion 61
It is stored in the case of barrier, but the composition in fault diagnosis portion 62 is not limited thereto.For example, also can be in various embodiments
Step S201, S401, S501 processing in execute fault diagnosis.It is examined in this case, executing failure by fault diagnosis portion 62
Break and detects failure and become in the processing of each step S201, S401, S501 and judge certainly.
It is not limited to the front end of tractor 20, range sensor 72 can also be set to the side end of tractor 20
Deng other positions., also can be by range sensor in addition, if can output it signal is input to first control device 50
Trailer 40 is arrived in 72 settings.Also, multiple range sensors 72 can also be set.
The brake force mapping that will generate the first brake apparatus 30 in the control for brake in automatic brake control or exception
Operation is that the vehicle 10 that is detected by range sensor 72 is smaller then bigger at a distance from the article of vehicle periphery, but such system
The calculation of power can be changed suitably.For example, can also make to make in control for brake in automatic brake control or exception
The brake force that first brake apparatus 30 generates is constant regardless of the above-mentioned distance detected by range sensor 72.When in this way
In the case of keeping the brake force for generating the first brake apparatus 30 in each control for brake constant, make in control for brake when abnormal
Preset brake force is less than the preset brake force in automatic brake control.Thereby, it is possible to make to brake when abnormal
Brake force caused by the first brake apparatus 30 is less than in automatic brake control caused by the first brake apparatus 30 in control
Brake force.
Connection test section is constituted by the connection determination unit 53 of connection detection sensor 73 and first control device 50.Even
The other of the connecting state for being configured to suitably be changed to that tractor 20 and trailer 40 can be detected of test section are tied to constitute.
For example, it is also possible to which connection test section is arranged in first control device 50.Connection test section can be also based on can be via vehicle-mounted net
Network is communicated to detect the connecting state of tractor 20 and trailer 40 with second control device.
It is said by taking the composition that first control device 50 is connected with second control device 60 via In-vehicle networking as an example
It is bright, it need not be by first however, as long as it can carry out the exchanging of signal between first control device 50 and second control device 60
Control device 50 and second control device 60 are connect with In-vehicle networking.For example, by cable by first control device 50 with
And in the case that second control device 60 is electrically connected, In-vehicle networking can be replaced, and is communicated via cable twocouese.
Claims (5)
1. a kind of brake control is configured to be applied to have the vehicle of tractor and the trailer drawn by the tractor,
The brake control has：
First braking parts constitute the first brake apparatus for being equipped on above-mentioned tractor in order to control；
Second braking parts constitute the second brake apparatus for being equipped on above-mentioned trailer in order to control；
Range sensor is configured to detect above-mentioned vehicle at a distance from the article around the vehicle；
Enforcement division, be configured to according to above-mentioned first braking parts of above-mentioned distance controlling detected by above-mentioned range sensor and on
The second braking parts are stated, to execute the automatic brake control braked to above-mentioned vehicle；
Link test section, is configured to detect the connecting state of above-mentioned tractor and above-mentioned trailer；
Fault diagnosis portion is configured to diagnose the failure of above-mentioned second braking parts；And
Prohibition unit is configured to the execution for the above-mentioned automatic brake control for forbidding above-mentioned enforcement division to be carried out,
Above-mentioned brake control is configured to be detected as above-mentioned tractor and above-mentioned trailer by above-mentioned connection test section be connection
State and by above-mentioned fault diagnosis portion detect above-mentioned second braking parts failure be condition, above-mentioned prohibition unit is forbidden above-mentioned
The execution for the above-mentioned automatic brake control that enforcement division is carried out.
2. a kind of brake control is configured to be applied to have the vehicle of tractor and the trailer drawn by the tractor,
The brake control has：
First braking parts constitute the first brake apparatus for being equipped on above-mentioned tractor in order to control；
Second braking parts constitute the second brake apparatus for being equipped on above-mentioned trailer in order to control；
Range sensor is configured to detect above-mentioned vehicle at a distance from the article around the vehicle；
Enforcement division, be configured to according to above-mentioned first braking parts of above-mentioned distance controlling detected by above-mentioned range sensor and on
The second braking parts are stated, to execute the automatic brake control braked to above-mentioned vehicle；
Link test section, is configured to detect the connecting state of above-mentioned tractor and above-mentioned trailer；
Fault diagnosis portion is configured to diagnose the failure of above-mentioned second braking parts；
Transport condition test section is configured to detect the transport condition of above-mentioned vehicle；And
Keep straight on determination unit, be configured to judge the above-mentioned vehicle detected by above-mentioned transport condition test section transport condition whether be
Straight trip；And
Prohibition unit is configured to the execution for the above-mentioned automatic brake control for forbidding above-mentioned enforcement division to be carried out,
Above-mentioned brake control is configured to be detected as above-mentioned tractor and above-mentioned trailer by above-mentioned connection test section be connection
State and on being detected the failure of above-mentioned second braking parts by above-mentioned fault diagnosis portion and being determined as by above-mentioned straight trip determination unit
It is condition to state vehicle not and be straight-going state, and above-mentioned prohibition unit forbids holding for the above-mentioned automatic brake control that above-mentioned enforcement division carried out
Row.
3. brake control according to claim 1 or 2, wherein
Above-mentioned enforcement division is configured to when prohibiting the execution of above-mentioned automatic brake control by above-mentioned prohibition unit, instead of the automatic system
Dynamic control, and according to above-mentioned first braking parts of the above-mentioned distance controlling detected by above-mentioned range sensor, to execute to above-mentioned
The control for brake when exception that vehicle is braked,
Brake force caused by above-mentioned first brake apparatus is less than in above-mentioned automatic braking control in control for brake when above-mentioned abnormal
Brake force caused by above-mentioned first brake apparatus in system.
4. a kind of brake control method is applied to the vehicle with tractor and the trailer drawn by the tractor, the braking
Control method has：
The first brake apparatus of above-mentioned tractor is equipped on by the control of the first braking parts；
The second brake apparatus of above-mentioned trailer is equipped on by the control of the second braking parts；
Above-mentioned vehicle is detected at a distance from the article around the vehicle；
According to above-mentioned first braking parts of the above-mentioned above-mentioned distance controlling detected and above-mentioned second braking parts, to execute to above-mentioned
The automatic brake control that vehicle is braked；
Detect the connecting state of above-mentioned tractor and above-mentioned trailer；
Diagnose the failure of above-mentioned second braking parts；And
It is connecting state and detects the failure of above-mentioned second braking parts as item is detected as above-mentioned tractor and above-mentioned trailer
Part, to forbid the execution of above-mentioned automatic brake control.
5. a kind of brake control method is applied to the vehicle with tractor and the trailer drawn by the tractor, the braking
Control method has：
The first brake apparatus of above-mentioned tractor is equipped on by the control of the first braking parts；
The second brake apparatus of above-mentioned trailer is equipped on by the control of the second braking parts；
Above-mentioned vehicle is detected at a distance from the article around the vehicle；
According to above-mentioned first braking parts of the above-mentioned above-mentioned distance controlling detected and above-mentioned second braking parts, to execute to above-mentioned
The automatic brake control that vehicle is braked；
Detect the connecting state of above-mentioned tractor and above-mentioned trailer；
Diagnose the failure of above-mentioned second braking parts；
Detect the transport condition of above-mentioned vehicle；
Judge whether the transport condition of the above-mentioned above-mentioned vehicle detected is straight trip；And
To be detected as above-mentioned tractor and above-mentioned trailer is connecting state and detects above-mentioned second system by above-mentioned fault diagnosis portion
The failure in dynamic portion and to be determined as above-mentioned vehicle not be straight-going state is condition, to forbid the execution of above-mentioned automatic brake control.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017030129A JP6583306B2 (en) | 2017-02-21 | 2017-02-21 | Brake control device |
| JP2017-030129 | 2017-02-21 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108454596A true CN108454596A (en) | 2018-08-28 |
| CN108454596B CN108454596B (en) | 2020-09-22 |
Family
ID=63046238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810140862.2A Expired - Fee Related CN108454596B (en) | 2017-02-21 | 2018-02-11 | Brake control device and brake control method |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US10525946B2 (en) |
| JP (1) | JP6583306B2 (en) |
| KR (1) | KR102053183B1 (en) |
| CN (1) | CN108454596B (en) |
| DE (1) | DE102018202315B4 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3633221B1 (en) * | 2017-09-06 | 2022-04-27 | Univance Corporation | Clutch and vehicle power transmission structure |
| US11447108B1 (en) * | 2017-10-30 | 2022-09-20 | Creed Monarch, Inc. | Braking control system and method to sysnchronize the operation of the braking of a towed vehicle |
| JP7512984B2 (en) | 2021-08-30 | 2024-07-09 | トヨタ自動車株式会社 | Collision avoidance support device for vehicles and collision avoidance support program for vehicles |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR102053183B1 (en) | 2019-12-06 |
| US10525946B2 (en) | 2020-01-07 |
| DE102018202315B4 (en) | 2024-02-08 |
| JP6583306B2 (en) | 2019-10-02 |
| DE102018202315A1 (en) | 2018-08-23 |
| KR20180096517A (en) | 2018-08-29 |
| JP2018134945A (en) | 2018-08-30 |
| US20180236988A1 (en) | 2018-08-23 |
| CN108454596B (en) | 2020-09-22 |
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